Micron 1

The first working prototype of Micron is developed and built in 2000, as shown in Fig. ?. This first prototype weighs 170 g, measures 210 mm in length (including the 30 mm tool shaft at the tip), and has an average diameter of 22 mm. The narrowed section of the handle near the tip is contoured as an aid to grasping.

Motion sensing is provided by the 6-dof inertial measurement unit. Tip velocity is calculated and integrated to obtain a displacement signal, from which the erroneous component is estimated using one of the filtering algorithms. The estimated displacement error is then used as an input command to the manipulator, driving the tip to generate an equal but opposite deflection to compensate the erroneous motion. The sensing-filtering-manipulation operation is performed at 1 kHz sampling.

Performance of Micron 1 is evaluated in laboratory motion canceling tests.

Publications:

1. Design and implementation of active error canceling in hand-held microsurgical instrument
W. Ang, C. Riviere, and P. Khosla
Proc. IEEE/RSJ Intl. Conf. Intelligent Robots and Systems, Vol. 2, October, 2001, pp. 1106-1111. [Abstract]
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2. Toward Active Tremor Canceling in Handheld Microsurgical Instruments

C. Riviere, W. Ang and P. Khosla

IEEE Transactions on Robotics and Automation, October, 2003